There are many verbs and phrases that can require the infinitive.
He had better go by bus in this weather.
She saw him have the accident.
They felt the sun warm her back.
It would be a pity to waste all this energie.
The same happens in French. The only difficulty will be to learn, which of the preposition to use. However, this again is just something that goes along the vocabulary learning. Or, if you just read the structures a couple of time, you will be able to use them and also similar ones.